Abstract
Three-dimensional point cloud registration is a critical task in 3D perception for sensors that aims to determine the optimal alignment between two point clouds by finding the best transformation. Existing methods like RANSAC and its variants often face challenges, such as sensitivity to low overlap rates, high computational costs, and susceptibility to outliers, leading to inaccurate results, especially in complex or noisy environments. In this paper, we introduce a novel 3D registration method, CL-PCR, inspired by the concept of maximal cliques and built upon the SC(2)-PCR framework. Our approach allows for the flexible use of smaller sampling subsets to extract more local consensus information, thereby generating accurate pose hypotheses even in scenarios with low overlap between point clouds. This method enhances robustness against low overlap and reduces the influence of outliers, addressing the limitations of traditional techniques. First, we construct a graph matrix to represent the compatibility relationships among the initial correspondences. Next, we build clique-likes subsets of various sizes within the graph matrix, each representing a consensus set. Then, we compute the transformation hypotheses for the subsets using the SVD algorithm and select the best hypothesis for registration based on evaluation metrics. Extensive experiments demonstrate the effectiveness of CL-PCR. In comparison experiments on the 3DMatch/3DLoMatch datasets using both FPFH and FCGF descriptors, our Fast-CL-PCRv1 outperforms state-of-the-art algorithms, achieving superior registration performance. Additionally, we validate the practicality and robustness of our method with real-world data.